A Comprehensive Review on Motion Planning of Bi-differential Wheeled Robots in Cluttered Environment Using Various Artificial Intelligent Techniques

Abstract

Robotic Mobility in dynamic environments has gained popularity among many researchers over past few years. The environment where human beings perform their normal operations includes narrow spaces, sharp turns, slopes and steps. In addition, some times the field of operation may be found to be chemically hazardous, radioactive or reconnaissance in nature. It is not quite easy to develop intelligent robots with very precise mechanism suitable for specific navigational purposes. The balancing on two wheels and spin on the spot ability with smaller footprints of the bi-differential wheeled mobile robots distinguish them from other multi-wheel counterparts. In this paper some of the basic literatures regarding the motion planning of mobile robots are discussed using different artificial intelligence techniques. The robots can able to reach a respective goal positions by successfully avoiding the intermediate collisions among themselves and with the obstacles using these techniques as control scheme.

Keywords: Robotic Mobility, Motion Planning, Bi-differential Wheeled Robots, Artificial Intelligence Techniques, obstacle avoidance.